ROS2でハードウェアを抽象化して制御則の見通しをよくするのに使います。
実際のところ
導入
cd ~/dev_ws/
これをvcstoolという楽しいコマンドで
$ vcs import --input https://raw.githubusercontent.com/ros-controls/control.ros.org/master/ros_controls.$ROS_DISTRO.repos src ......... === src/ros-controls/control_msgs (git) === Cloning into '.'... === src/ros-controls/control_toolbox (git) === Cloning into '.'... === src/ros-controls/gazebo_ros2_control (git) === Cloning into '.'... === src/ros-controls/gz_ros2_control (git) === Cloning into '.'... === src/ros-controls/kinematics_interface (git) === Cloning into '.'... === src/ros-controls/realtime_tools (git) === Cloning into '.'... === src/ros-controls/ros2_control (git) === Cloning into '.'... === src/ros-controls/ros2_control_demos (git) === Cloning into '.'... === src/ros-controls/ros2_controllers (git) === Cloning into '.'...||< >|| rosdep update --rosdistro=$ROS_DISTRO sudo apt-get update rosdep install --from-paths src --ignore-src -r -y
この状態で、rosdep。
知らなかったンですが、更新対象のrosdistroの指定って出来たんですね……
$ ~/dev_ws/ $ rosdep update --rosdistro=$ROS_DISTRO $ rosdep install --from-paths src --ignore-src -r -y
導入への反映
$ ~/dev_ws/ $ source /opt/ros/${ROS_DISTRO}/setup.sh $ colcon build --symlink-install $ source install/setup.bash